The present disclosure relates to a collision avoidance concept comprising emitting a modulated light beacon from an object, wherein a luminance of the light beacon is modulated based on a useful signal carrying information on a position of the object, detecting, by an event-based vision sensor of a vehicle, the modulated light beacon of the object and outputting an event signal in response to a detected change in luminance of the modulated light beacon, and estimating a distance between the object and the vehicle based on the event signal.